Offset-free Model Predictive Control: A Ball Catching Application with a Spherical Soft Robotic Arm
Yaohui Huang,Matthias Hofer,Raffaello D’Andrea,Yaohui Huang,Matthias Hofer,Raffaello D’Andrea
This paper presents an offset-free model predictive controller for fast and accurate control of a spherical soft robotic arm. In this control scheme, a linear model is combined with an online disturbance estimation technique to systematically compensate model deviations. Dynamic effects such as material relaxation resulting from the use of soft materials can be addressed to achieve offset-free tra...
